Dr. Hsiao-Wecksler from UIUC has developed passive hydraulic forearm simulator with an artificial joint. This device is designed to replicate different degrees of spasticity and rigidity so that medical professionals can utilize this as a teaching tool. Unlike real patients, this hydraulic model is able to provide a range of motions with consistency and uniformity. Unlike other simulators, this device requires no sophisticated algorithm for external computational control of the movement.